EP4069489B1 - Dialyzer manufacturing system and method - Google Patents
Dialyzer manufacturing system and method Download PDFInfo
- Publication number
- EP4069489B1 EP4069489B1 EP20824794.0A EP20824794A EP4069489B1 EP 4069489 B1 EP4069489 B1 EP 4069489B1 EP 20824794 A EP20824794 A EP 20824794A EP 4069489 B1 EP4069489 B1 EP 4069489B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tool
- dialyzer
- dialyzer housing
- mold
- housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004519 manufacturing process Methods 0.000 title claims description 35
- 238000000034 method Methods 0.000 title claims description 21
- 238000001746 injection moulding Methods 0.000 claims description 73
- 238000001816 cooling Methods 0.000 claims description 44
- 238000000465 moulding Methods 0.000 claims description 33
- 238000003860 storage Methods 0.000 claims description 31
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 239000007924 injection Substances 0.000 claims description 14
- 238000002347 injection Methods 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000001631 haemodialysis Methods 0.000 description 2
- 230000000322 hemodialysis Effects 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000004743 Polypropylene Substances 0.000 description 1
- 238000000502 dialysis Methods 0.000 description 1
- 239000000385 dialysis solution Substances 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003907 kidney function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000012768 molten material Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- -1 polypropylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
- A61M1/14—Dialysis systems; Artificial kidneys; Blood oxygenators ; Reciprocating systems for treatment of body fluids, e.g. single needle systems for hemofiltration or pheresis
- A61M1/16—Dialysis systems; Artificial kidneys; Blood oxygenators ; Reciprocating systems for treatment of body fluids, e.g. single needle systems for hemofiltration or pheresis with membranes
- A61M1/1621—Constructional aspects thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D61/00—Processes of separation using semi-permeable membranes, e.g. dialysis, osmosis or ultrafiltration; Apparatus, accessories or auxiliary operations specially adapted therefor
- B01D61/24—Dialysis ; Membrane extraction
- B01D61/243—Dialysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D67/00—Processes specially adapted for manufacturing semi-permeable membranes for separation processes or apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/26—Moulds
- B29C45/2602—Mould construction elements
- B29C45/2606—Guiding or centering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/72—Heating or cooling
- B29C45/7207—Heating or cooling of the moulded articles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2207/00—Methods of manufacture, assembly or production
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2207/00—Methods of manufacture, assembly or production
- A61M2207/10—Device therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D2323/00—Details relating to membrane preparation
- B01D2323/42—Details of membrane preparation apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/26—Moulds
- B29C2045/2683—Plurality of independent mould cavities in a single mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C2045/4078—Removing or ejecting moulded articles using stripping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4266—Robot grippers movable along three orthogonal axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
- B29C2045/7633—Take out or gripping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/26—Moulds
- B29C45/33—Moulds having transversely, e.g. radially, movable mould parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/14—Filters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/755—Membranes, diaphragms
Definitions
- This disclosure relates to a robotic arm tool for use in dialyzer manufacturing.
- Hemodialysis is a treatment used to support a patient with insufficient renal function.
- a patient's blood is passed through a dialyzer of a dialysis machine while also passing a dialysis solution or dialysate through the dialyzer.
- Dialyzers include a housing and a semi-permeable membrane contained within the housing of the dialyzer. The semi-permeable membrane separates the blood from the dialysate within the dialyzer and allows diffusion and osmosis exchanges to take place between the dialysate and the blood stream.
- the housings of dialyzers are typically manufactured using an injection molding process.
- JP H07 205219 describes a take-out device for an injection-molded product of synthetic resin and loading the product into a loading box.
- CN 104260282 describes a a mold used for making housings of hemodialyzers, hemofilters and the like.
- a dialyzer housing manufacturing system includes a molding device configured to injection mold a dialyzer housing, and a tool coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded.
- the injection molding device comprises an injection mold that includes two mold halves and an alignment pin coupled to a first of the halves, wherein the alignment pin remains partially inserted into a second of the halves when the injection mold is opened after molding the dialyzer housing.
- the tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.
- Embodiments can include one or more of the following features in any combination.
- the first and second suction cups are fluidly coupled to a vacuum source.
- the dialyzer housing manufacturing system further includes a third suction cup connected to the first portion of the frame, a fourth suction cup connected to the first portion of the frame, a fifth suction cup connected to the first portion of the frame, a sixth suction cup connected to the second portion of the frame, a seventh suction cup connected to the second portion of the frame; and an eighth suction cup connected to the second portion of the frame, the sixth, seventh, and eighth suction cups being oriented about 70 degrees to about 110 degrees relative to the third, fourth, and fifth suction cups.
- the molding device is configured to mold two dialyzer housings.
- the tool is configured to simultaneously retrieve two dialyzer housings from the molding device.
- the tool is rotatable between a first position and a second position.
- the dialyzer housing manufacturing system further includes a pneumatic cylinder, and a rotation pin, wherein the rotation pin couples the tool to the robotic arm, and the tool is configured to rotate about the rotation pin in response to a force applied to the tool by the pneumatic cylinder.
- a width of the tool in the first position is about 16 cm to about 17 cm.
- the molding device is configured to open a pair of mold halves between about 200 mm to about 240 mm after molding the dialyzer housing.
- a width of the tool in the second position is about 35 cm to about 36 cm.
- the dialyzer housing manufacturing system further includes a cooling table for cooling the dialyzer housing.
- the dialyzer housing manufacturing system further includes a storage container for storing the dialyzer housing.
- a method in a further aspect, includes opening an injection mold to expose a first dialyzer housing, wherein the injection mold includes two mold halves and an alignment pin coupled to a first of the halves, and wherein the alignment pin remains partially inserted into a second of the halves when the injection mold is opened, coupling the first dialyzer housing to a first portion of a tool, moving the tool to remove the first dialyzer housing from the mold, rotating the tool about 70 degrees to about 110 degrees to orient the first portion of the tool in a first direction, placing the first dialyzer housing at a first location using the tool, rotating the tool about 70 degrees to about 110 degrees to orient a second portion of the tool in the first direction, coupling a second dialyzer housing at the first location to the second portion of the tool, and placing the second dialyzer housing at a second location using the tool.
- Embodiments can include one or more of the following features in any combination.
- the mold is opened about 200 mm to about 240 mm.
- coupling the first dialyzer housing to a first portion of a tool includes inserting the tool between a first half of the mold and a second half of the mold.
- inserting the tool between a first half of the mold and the second half of the mold includes extending a robotic arm coupled to the tool between the first half of the mold and the second half of the mold.
- coupling the first dialyzer housing to the first portion of the tool includes positioning one or more suction cups coupled to the first portion of the tool proximate the first dialyzer housing, and applying vacuum suction through an opening in each of the one or more suction cups.
- placing the first dialyzer housing at a first location using the tool includes positioning the first dialyzer housing proximate the first location using the tool, and stopping the application of vacuum suction through the opening of each of the one or more suction cups.
- coupling a second dialyzer housing at the first location to the second portion of the tool includes positioning one or more suction cups coupled to the second portion of the tool proximate the second dialyzer housing, and applying vacuum suction through an opening in each of the one or more suction cups.
- placing the second dialyzer housing at a second location using the tool includes positioning the second dialyzer housing proximate the second location using the tool, and stopping the application of vacuum suction through the opening of each of the one or more suction cups.
- the method further includes coupling a third dialyzer housing to the first portion of the tool, and moving the tool to remove the third dialyzer housing from the mold, wherein the first dialyzer housing and the third dialyzer housing are removed from the mold simultaneously.
- the method further includes coupling a fourth dialyzer housing at the first location to the second portion of the tool, and placing the fourth dialyzer housing at the second location using the tool, wherein the second dialyzer housing and the fourth dialyzer housing are placed at the second location simultaneously.
- the first location comprises a cooling table.
- the second location comprises a storage container.
- a device for removing a dialyzer housing from a mold includes a tool coupled to a robotic arm, and a pin rotatably coupling the tool to the robotic arm.
- the tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.
- Embodiments can include one or more of the following features in any combination.
- the first and second suction cups are fluidly coupled to a vacuum source.
- the device further includes a third suction cup connected to the first portion of the frame, a fourth suction cup connected to the first portion of the frame, a fifth suction cup connected to the first portion of the frame, a sixth suction cup connected to the second portion of the frame, a seventh suction cup connected to the second portion of the frame, and an eighth suction cup connected to the second portion of the frame, the sixth, seventh, and eighth suction cups being oriented about 70 degrees to about 110 degrees relative to the third, fourth, and fifth suction cups.
- the tool is configured to rotate about 70 degrees to about 110 degrees between a first position and second position about the pin.
- a width of the tool in the first position is about 16 cm to about 17 cm.
- a width of the tool in the second position is about 35 cm to about 3 6 cm.
- a dialyzer housing manufacturing system includes a molding device configured to mold a dialyzer housing, and a tool coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded.
- the tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, wherein the tool is rotatable between a first position in which the first suction cup extends in a first direction and a second position in which the second suction cup extends in the first direction, and the width of the tool in the second position is greater than the width of the tool in the first position.
- the width of the tool in the first position is measured linearly from the first suction cup to an opposite edge of the tool
- the width of the tool in the second position is measured linearly from the second suction cup to an opposite edge of the tool.
- Advantages of the systems, devices, and methods described herein include reduced wear on the injection molding device. For example, by using a rotatable arm tool to minimize the amount that the mold must be opened during removal of a dialyzer housing from the mold ("de-molding"), the amount of wear on the injection molding device is reduced. In addition, by using a rotatable arm tool to minimize the amount that the mold must be opened during de-molding, the alignment pins of the molding device can remain engaged during de-molding, which reduces the risk of damage to the injection molding device. Another advantage is that the overall time required to perform injection molding of the dialyzer housing is reduced by using a rotatable arm tool to minimize the amount the mold must be opened during de-molding.
- a dialyzer housing manufacturing system 100 includes an injection molding device 102, a robotic arm 104, a cooling table 106, and a storage container 108.
- the injection mold includes two mold halves 110, 112. As described in further detail herein, the mold halves 110, 112 can move within the injection molding device 102 to form a cavity in which a dialyzer housing 124 can be molded. For example, as depicted in Fig. 1 , during injection molding of the dialyzer housing 124, the mold halves 110, 112 are pressed together and molten resin is injected into the cavity formed by the mold halves 110, 112 to mold the dialyzer housing 124. Once the dialyzer housing 124 is molded, the mold halves 110, 112 open to expose the dialyzer housing 124 and allow for retrieval of the dialyzer housing 124 from the injection molding device 102.
- the robotic arm 104 is used to retrieve the dialyzer housing 124 from the injection molding device 102.
- an arm tool 114 is coupled to an end of the robotic arm 104.
- the arm tool 114 can apply a suction force to the dialyzer housings 124 to remove the dialyzer housings 124 from the injection molding device 102.
- the robotic arm 104 and arm tool 114 are used to place the dialyzer housing 124 on the cooling table 106.
- the arm tool 114 can rotate about the end of the robotic arm 104 to position a dialyzer housing 124 coupled to the arm tool 114 on the cooling table 106.
- the cooling table 106 is configured to provide air flow around the dialyzer housing 124 to reduce the temperature of the surface of the newly molded dialyzer housing 124.
- the cooling table 106 includes multiple cooling racks 138, which allows for multiple dialyzer housings 124 to be positioned on the cooling table 106.
- a portion of the arm tool 114 couples to the dialyzer housing 124.
- the robotic arm 104 and the arm tool 114 lifts the dialyzer housing 124 off the cooling table 106 and places the dialyzer housing 124 within the storage container 108.
- the storage container 108 is filled with dialyzer housings, a new, empty storage container is provided, and the filled storage container 108 can be used to store or ship the dialyzer housings packed within the storage container 108.
- the robotic arm 104 of the dialyzer housing manufacturing system 100 includes a base 116, a lateral boom 118, and a vertical projection 120.
- the base 116 is stationary relative to the injection molding device 102 and includes a set of tracks 122 extending along the length of a top surface of the base 116.
- the position of the arm tool 114 can be adjusted by moving various components of the robotic arm 104.
- the vertical projection 120 can traverse along the length on the lateral boom 118 and the lateral boom can traverse crosswise along the length of the base 116 by traveling along the tracks 122.
- the vertical projection 120 is configured to extend to lower the arm tool 114 and retract to raise the arm tool 114.
- the arm tool 114 can be precisely positioned within three dimensional space.
- the dialyzer housing manufacturing system 100 also includes a set of controllers 160, 162.
- a first controller 160 is configured to control the injection molding device 102
- a second controller 162 is configured to control the robotic arm 104 and the arm tool 114.
- the controllers 160, 162 are communicatively coupled with each other and send signal to one another to coordinate the movements of the injection molding device 102, the robotic arm 104, and the arm tool 114.
- the controllers 160, 162 enable the arm tool 114 to engage and move dialyzer housings 124 throughout the dialyzer housing manufacturing system 100.
- the injection molding device controller 160 signals the robotic arm controller 162 when the molds 110, 112 are in an open position and the robotic arm controller 162 controls the robotic arm 104 and arm tool 114 to retrieve the dialyzer housings from the molds 110, 112.
- the injection molding device 102 and the robotic arm 104 each include rotary encoder(s) (not shown) that are communicably coupled to the controllers 160, 162, and signals received by the controllers 160, 162 from the rotary encoder(s) can be used to determine the spatial positioning of the components of the injection molding device 102 and robotic arm 104.
- rotary encoder(s) are used to measure the number of rotations of the motor(s) of the robotic arm 104 has completed.
- the controller 162 can determine the direction and distance that the lateral boom 118 and/or vertical projection 120 of the robotic arm 104 has travelled based on the number of rotations that the motor(s) of the robotic arm 104 has completed, as detected by the rotary encoder(s).
- the controller 162 can determine the position of the arm tool 114 in three-dimensional space. Similarly, rotary encoders are used to measure the number of rotations of the motor(s) used to move the mold 110, 112 has completed. The controller 160 can determine the direction and distance that the mold half 112 of the injection molding device 102 has travelled based on the number of rotations that the motor(s) of the injection molding device 102 has completed, as detected by the rotary encoder(s).
- Each of the components of the injection molding device 102 and the robotic arm 104 are configured to move predetermined distances throughout the process cycle in order to conduct molding and transporting the dialyzer housings.
- the rotary encoders of the injection molding device 102 and the robotic arm 104 each determine the number of rotations that the motor(s) of the injection molding device 102 and the robotic arm 104, respectively, have completed based on signals received from a proximity switch(es) communicably coupled to the encoders.
- the rotary encoders of the injection molding device 102 and the robotic arm 104 each determine the number of rotations that the motor(s) of the injection molding device 102 and the robotic arm 104, respectively, have completed based on magnets of the rotary encoders.
- Fig. 2 depicts a perspective view of the arm tool 114 in a first position 200.
- the arm tool 114 includes eight suction cups 230, 232, 234, 236, 238, 240, 242, 244 coupled to a frame 280.
- Each suction cup 230, 232, 234, 236, 238, 240, 242, 244 is configured to couple to a dialyzer housing 124 that is formed by the injection molding device 102.
- each suction cup 230, 232, 234, 236, 238, 240, 242, 244 includes an opening through its center, and each suction cup 230, 232, 234, 236, 238, 240, 242, 244 is fluidly coupled to a vacuum source, enabling suction to be applied through the center of each suction cup 230, 232, 234, 236, 238, 240, 242, 244.
- a dialyzer housing can be coupled to the suction cups 230, 232, 234, 236, 238, 240, 242, 244 by applying suction through the center of the respective suction cup.
- the suction cups 230, 232, 234, 236, 238, 240, 242, 244 are divided into a first set of suction cups 202, which includes suction cups 230, 232, 234, 236, and a second set of suction cups 204, which includes suction cups 238, 240, 242, 244.
- the first set of suction cups 202 is coupled to a first portion 282 of the frame 280
- the second set of suction cups 204 is coupled to a second portion 284 of the frame 280.
- the first set of suction cups 202 are coupled to the frame 280 such that the first set 202 is oriented about 90 degrees relative to the second set of suction cups 204.
- the system 100 includes a vacuum source 150 that is fluidly coupled to each set of suction cups 202, 204 via a vacuum line 152 that extends along the vertical projection 120.
- the controller 160 controls the application of vacuum suction through each set of suction cups 202, 204 to allow for selective engagement of dialyzer housings to the sets of suction cups 202, 204.
- the vacuum source 150 applies a vacuum pressure in a range of about 0.35 MPa to about 0.50 MPa to the ends of each of the suction cups.
- Any of various suitable pumps can be used as the vacuum source 150, such as a suction pump, a positive displacement pump, a venturi pump, etc.
- the vacuum source 150 is communicatively coupled to a controller 160, which controls the timing of the application of suction by the vacuum source 150 through the sets 202, 204 of suction cups of the arm tool 114.
- the controller 160 can coordinate the vacuum suction with the movements of the robotic arm 104 and the arm tool 114 in order to selectively apply vacuum suction through one of the sets of suction cups 202, 204 when the respective set is positioned proximate a dialyzer housing to be moved by the arm tool 114.
- the first portion 282 of the frame 280 forms a rectangular platform 206 and the first set of suction cups 202 is attached to the rectangular platform 206.
- the rectangular platform 206 is positioned such that the first set of suction cups 202 coupled to the platform 206 point sideways relative to the vertical projection 120 of the robotic arm 104.
- the first set of suction cups 202 includes two pairs of suction cups 208, 210. Each suction cup 230, 232, 234, 236 in the first set 202 is coupled to the rectangular platform 206 proximate a respective corner of the rectangular platform 206.
- the first set of suctions cups 202 is configured to simultaneously couple to two dialyzer housings, with the first pair of suction cups 208 coupling to a first dialyzer housing and the second pair of suction cups 210 coupling to a second dialyzer housing.
- each of the suction cups in the first set 202 includes an opening therethrough.
- the first set of suction cups 202 are fluidly coupled to the vacuum line 152, which is coupled to the vacuum source 150, and vacuum suction can be provided through the vacuum line 152 to the first set of suction cups 202 in order to couple a pair of dialyzer housings to the first set of suction cups 202.
- the rectangular platform 206 has a total width of about 9 cm to about 11 cm (e.g., about 10.16 cm), a total length of about 16 cm to about 17 cm (e.g., about 16.51 cm), and a total thickness of about 1 cm to about 3 cm (e.g., about 2.54 cm).
- the second portion 284 of the frame 280 forms a U-shaped platform 212, and the second set of suction cups 204 is attached to a U-shaped platform 212.
- the U-shaped platform 212 includes a first post 214, a second post 216, and a connector bar 218.
- the first post 214 is coupled to a first end of the connector bar 218 and the second post 216 is coupled to a second end of the connector bar 218 opposite the first post 214.
- the longitudinal axis of the connector bar 218 is substantially perpendicular to the longitudinal axis of each of the posts 214, 216.
- each of the posts 214, 216 is substantially parallel to the longitudinal axis of the vertical projection 120 of the robotic arm 104.
- the rectangular platform 206 is coupled to the connector bar 218 of the U-shaped platform 212.
- each post 214, 216 of the U-shaped platform 212 has a total width of about 7 cm to about 8 cm (e.g., about 7.62 cm), a total length of about 22 cm to about 24 cm (e.g., about 25.4 cm), and a total thickness of about 1 cm to about 3 cm (e.g., about 3.81 cm).
- the connector bar 218 of the U-shaped platform 212 has a total width of about 7 cm to about 8 cm (e.g., about 7.62 cm), a total length of about 16 cm to about 17 cm (e.g., about 16.51 cm), and a total thickness of about 1 cm to about 3 cm (e.g., about 2.54 cm).
- the second set of suction cups 204 also includes a first pair of suction cups 220 and a second pair of suction cups 222, totaling four suction cups in the second set 204. As depicted in Fig. 2 , the first pair of suction cups 220 of the second set 204 is coupled to an end of the first post 214, and the second pair of suction cups 222 of the second set 204 is coupled to an end of the second post 216.
- the second set of suctions cups 204 is configured to couple to two dialyzer housings, with the first pair of suction cups 220 coupling to a first dialyzer housing 224 and the second pair of suction cups 222 coupling to a second dialyzer housing 226.
- each of the suction cups in the second set 204 includes an opening therethrough.
- the posts 214, 216 each include a vacuum line 154, 156, respectively, coupled to vacuum line 152 to allow suction to be applied through second set of suction cups 204 to couple a pair of dialyzer housings to the second set of suction cups 204.
- Fig. 3 depicts the arm tool 114 in a second position 300.
- the longitudinal axis of each of the posts 214, 216 of the U-shaped platform 212 are perpendicular to the longitudinal axis of the vertical projection 120 of the robotic arm 104.
- the first set of suction cups 202 coupled to the rectangular platform 206 are facing downward.
- the arm tool 114 is coupled to an end of the vertical projection 120 of the robotic arm 104 using a pin connector 302, and is rotatable about the end the vertical projection 120 via the pin connector 302.
- the arm tool 114 can rotate about 0 degrees to about 90 degrees about the pin connector 302.
- the arm tool 114 rotates about 90 degrees about the pin connector 302 between the first position 200 (depicted in Fig. 2 ) and the second position 300 (depicted in Fig. 3 ).
- the arm tool 114 also includes a pneumatic cylinder (not shown), which applies a force to an end of the arm tool 114 and causes the arm tool to rotate about the pin connector 302.
- the controller 160 controls and coordinates the rotation of the arm tool 114 between the first position 200 and the second position 300 during manufacturing and packaging the dialyzer housings. For example, the controller 160 signals the pneumatic cylinder of the arm tool 114 to extend or retract to rotate the arm tool 114 between the first position 200 and the second position 300.
- the width 270 of the profile of the arm tool 114 in the first position 200 is smaller than the width 370 of the profile of the arm tool 114 in the second position 300.
- the width 270 of the profile of the arm tool 114 in the first position 200 can be about 16 cm to about 17 cm (e.g., about 16.5 cm)
- the width 370 of the profile of the arm tool 114 in the second position 300 can be about 35 cm to about 36 cm (e.g., about 35.5 cm).
- the width 270 of the profile of the arm tool 114 in the first position 200 can be about 18 cm to about 20 cm less than the width 370 of the profile of the arm tool 114 in the second position 300.
- the width 270 of the tool 114 in the first position 200 is measured linearly from the first set of suction cups 202 to an opposite edge of the tool.
- the width 370 of the tool 114 in the second position 300 is measured linearly from the second set of suction cups 204 to an opposite edge of the tool 114.
- Rotating the arm tool 114 between the first position 200 and the second position 300 reduces the amount the injection molding device 102 must be opened to enable the arm tool 114 to fit between the molds 110, 112, while still allowing the arm tool 114 to reach the bottom of the storage container 108 to place the dialyzer housings within the storage container 108.
- Minimizing the amount the injection molding device 102 must be opened to enable the arm tool 114 to remove the dialyzer housing 124 from the mold halves 110,112 can reduce the wear on the molds 110,112.
- minimizing the amount the mold halves 110, 112 must be opened during de-molding can reduce the risk of misalignment of the mold halves 110, 112, and can thus reduce the risk of damage to the injection molding device 102.
- minimizing the amount the injection molding device 102 must be opened during de-molding can reduce the time required to open the molding injection device 102 during de-molding, which can reduce the overall time required to manufacture the dialyzer housing 124.
- Fig. 4 depicts a side view of the injection molding device 102 of the dialyzer housing manufacturing system 100.
- the injection molding device 102 includes a first mold half 110 and a second mold half 112.
- the mold halves 110, 112 of the injection molding device 102 are configured to form two dialyzer housings at the same time.
- Fig. 5 depicts a front view of the first mold half 110 of the injection molding device 102.
- the first mold half 110 includes two cavities 502, 504 and multiple alignment pins 510, 512, 514, 516, 520, 522, 524, 526.
- the cavities 502, 504 are each used to form a dialyzer housing 124.
- the second mold half 112 includes two corresponding cavities (not shown). During injection molding, the cavities 502, 504 of the first mold half 110 and the cavities of the second mold half 112 are aligned, the mold halves 110, 112 are positioned against one another, and molten material is injected into the cavities. As the injected material cools, the material takes the form of the cavities in the first and second mold halves 110, 112 to form the dialyzer housings 124.
- the dialyzer housings 124 can be formed of any of various different medical grade materials. Examples of such materials include polycarbonate, polypropylene, etc.
- the first mold half 110 includes a first set of four mold alignment pins 510, 512, 514, 516 and a second set of mold alignment pins 520, 522, 524, 526 projecting outward from the interior surface 518 of the first mold half 110.
- the mold alignment pins 510, 512, 514, 516, 520, 522, 524, 526 ensure proper alignment and a secure fitting between the two mold halves 110, 112 during injection molding.
- the mold alignment pins 510, 512, 514, 516, 520, 522, 524, 526 align with and are inserted into corresponding openings in the second mold half 112 (not shown).
- the second mold half 112 is moved apart from first mold half 110 by a predetermined distance 450 to expose the dialyzer housings formed by the injection molding device 102.
- the second mold half 112 is moved about 230 mm apart from the first mold half 110 to accommodate the insertion of the arm tool 114 (positioned in the first position 200) between the mold halves 110, 112.
- the arm tool 114 is used to remove the dialyzer housings 424 from the second mold half 112.
- the mold alignment pins 510, 512, 514, 516 and core alignment pins 520, 522, 524, 526 of the second mold half 112 remain at least partially inserted in the corresponding openings in the first mold half 110 throughout the injection molding process.
- the alignment pins 510, 512, 514, 516, 520, 522, 524, 526 of the second mold half 112 can remain partially inserted in the openings of the first mold half 110 during de-molding.
- the second mold half 112 also includes ejector pins (not shown) that are used to eject the formed dialyzer housings 424 from the second mold half 112.
- the controller 160 coordinates the movement of the ejector pins and the application of suction through the vacuum line 152 to the arm tool 114 such that the ejector pins eject the dialyzer housings 424 from the mold 112 and the arm tool 114 provides suction and couples to the dialyzer housings 424 simultaneously.
- the mold halves 110, 112 are closed while the injection molding device 102 performs injection molding of a pair of dialyzer housings (not shown). While the injection molding device 102 performs injection molding of the dialyzer housings, the robotic arm 104 is in a retracted position such that the arm tool 114 is positioned over the mold halves 110, 112. As depicted in Fig. 6 , the arm tool 114 is in the first position 200 such that the posts 214, 216 of the U-shaped platform and the second set of suction cups 204 are pointing downward, and the first set of suction cups 202 are oriented laterally relative to the vertical projection 120.
- the second mold half 112 retracts and moves apart from the first mold half 110 to expose the dialyzer housings.
- the distance between the mold halves 110, 112 is sized to allow the arm tool 114 in the first position 200 to be inserted between the mold halves 110, 112 with the first set of suction cups 202 facing the second mold half 112.
- the distance between the mold halves 110, 112 in the open position following injection molding is between about 230 mm to accommodate the insertion of the arm tool 114 positioned in the first position 200 between the mold halves 110, 112.
- the alignment pins 510, 512, 514, 516, 520, 522, 524, 526 of the second mold half 112 remain partially inserted in the openings of the first mold half 110 through the entire manufacturing process.
- the controller 160 controls the movement of the second mold half 112 to move apart from the first mold half 110 by a predetermined distance to open the mold.
- the controller 160 for the injection molding device 102 transmits a signal to the controller 162 for the robotic arm 104 to indicate that the mold 110, 112 is open.
- the controller 162 of the robotic arm 104 controls the vertical projection 120 of the robotic arm 104 to extend to insert the arm tool 114 between the first mold half 110 and the second mold half 112.
- the vertical projection 120 of the robotic arm 104 continues to extend until the controller 162 for the robotic arm 104 determines, based on feedback received from rotary encoders (not shown) of the robotic arm 104, that the vertical projection 120 has extended a predetermined distance that corresponds to the first pair of suction cups 208 of the first set 202 being vertically aligned with a first dialyzer housing in the second mold half 112 and the second pair of suction cups 210 of the first set 202 being vertically aligned with a second dialyzer housing in the second mold half 112.
- Fig. 9 depicts a side view of the molding device 102 with the arm tool 114 inserted between the mold halves 110, 112 of the molding device 102.
- the first pair of suction cups 208 of the first set 202 is vertically aligned with a first dialyzer housing 902 in the second mold half 112.
- the second pair of suction cups 210 (not shown) of the first set 202 is vertically aligned with a second dialyzer housing 904 in the second mold half 112.
- the controller 162 can determine the position of the arm tool 114 in three-dimensional space based on signals received from rotary encoders (not shown) of the robotic arm 104. Once the controller has reached the fixed spatial location corresponding to alignment between the pairs of suction cups 208, 210 and dialyzer housings 902, 904, the controller 162 ceases extension of the vertical projection 120.
- the vertical projection 120 travels along the lateral boom 118 of the robotic arm 104 until each of the suction cups in the pairs 208, 210 are moved into contact with the surface of the dialyzer housings 902, 904.
- the controller 162 controls the vertical projection 120 of the robotic arm 104 to travel laterally along the lateral boom 118 towards the second mold half 112.
- the vertical projection 120 continues to move towards the second mold half 112 until the controller 162 determines, based on signals received from the rotary encoder(s) of the robotic arm 104, that the coordinates of the arm tool 114 correspond to a predetermined position corresponding to the first and second pairs of suction cups 208, 210 being in contact with the surface of the dialyzer housings 902, 904, respectively.
- the controller 162 initiates the application of suction through the pairs of suction cups 208, 210 and sends a signal to the controller 160 of the injection molding device 102 to move the ejector pins (not shown) of the second mold half 112.
- the extension of the ejector pins outwards from the second mold half 112 forces the dialyzer housings 902, 904 out of the corresponding cavities in the second mold half 112.
- each suction cup in the pairs 208, 210 includes an opening through its center, and each suction cup in the pairs 208, 210 is fluidly coupled to a vacuum source (e.g., vacuum source 150 of Fig. 1 ) via vacuum lines 152, 154, 156, enabling suction to be applied through the center of each suction cup.
- a vacuum source e.g., vacuum source 150 of Fig. 1
- the suction applied through the pairs of suction cups 208, 210 is transferred to the surface of the dialyzer housings 902, 904, coupling the housings 902, 904 to the pairs of suction cups 208, 210 in the first set 202.
- the controller 160 determines that the dialyzer housings 902, 904 are coupled to the first set of suction cups 202 based on a signal received from a vacuum confirmation sensor (not shown) on the arm tool 114.
- the controller 162 of the robotic arm 104 sends a signal to the controller 160 of injection molding device 102.
- the controller 160 of the injection molding device 102 controls the second mold half 112 to move the second mold half 112 towards the first mold half 110 a predetermined distance corresponding to the halves 110, 112 touching and the mold being closed, as depicted in Fig. 10 .
- suction is continually applied through the first set of suction cups 202 to maintain the coupling of the dialyzer housings 902, 904 to the arm tool 114.
- Figs. 11-15 depict a process of placing the dialyzer housings 902, 904 on the cooling table 106 using the arm tool 114.
- the lateral boom 118 of the robotic arm 104 travels forward a predetermined distance along the base 116 of the robotic arm 104.
- the base 116 includes a set of tracks 122 along its length to allow for smooth movement of the lateral boom 118 forward and backward along the base 116.
- the lateral boom 118 continues to travel forward along the base 116 until the controller 160 receives a signal from the rotary encoders of the robotic arm 104 indicating that the lateral boom 118 has travelled a predetermined distance corresponding to the arm tool 114 being positioned such that the first set of suction cups 202 are positioned over a pair of empty cooling racks 918, 920 on the cooling table 106.
- the vertical projection 120 travels laterally along the lateral boom 118 a predetermined distance to position the arm tool 114 such that the first set of suction cups 202 are positioned over a pair of empty cooling racks 918, 920 on the cooling table 106.
- the vertical projection 120 continues to travel laterally along the lateral boom 118 until the controller 160 receives a signal from rotary encoders of the robotic arm 104 indicating that the vertical projection 120 has travelled a predetermined distance corresponding to the arm tool 114 being positioned such that the first set of suction cups 202 are positioned over a pair of empty cooling racks 918, 920 on the cooling table 106.
- the arm tool 114 rotates about the pin connector 302 to rotate the arm tool 114 from the first position 200 (as depicted in Fig. 10 ) to the second position 300 (as depicted in Fig. 12 ).
- Fig. 11 depicts the rotation of the arm tool between the first position 200 and the second position 300 as the robotic arm 104 travels towards the cooling table 106.
- the arm tool 114 includes a pneumatic cylinder (not shown) that applies a force to an end of the arm tool 114 and causes the arm tool to rotate about the pin connector 302.
- the controller 160 coordinates the rotation of the arm tool 114 between the first fixed position 200 and the second fixed position 300 based on the current location of the arm tool 114 in three-dimensional space, as determined based on the signals received from the rotary encoders of the arm tool 114.
- the controller 162 is programmed to rotate the arm tool 114 from the first position 200 to the second position 300 at a specific point in the sequence of movements of the manufacturing cycle and based on the position of the arm tool 114 in three-dimensional space.
- Fig. 12 depicts the arm tool 114 positioned in the second position 300 with the dialyzer housings 902, 904 coupled to the first set of suction cups 202, and the first set of suction cups 202 facing downwards and aligned over the empty cooling racks 918, 920 on the cooling table 106.
- the vertical projection 120 of the robotic arm 104 extends a predetermined amount (as detected by the rotary encoder(s) of the robotic arm) to lower the dialyzer housings 902, 904 into the respective cooling racks 918, 920.
- Fig. 14 depicts a perspective view of the arm tool 114 in the second position 300 releasing a pair of dialyzer housing 1002, 1004 into a pair of cooling racks 1018, 1020 on a cooling table 106.
- Figs. 15-21 depict a process of moving a pair of dialyzer housings from the cooling table 106 to the storage container 108.
- the vertical projection 120 of the robotic arm 104 retracts to lift the arm tool 114 above the cooling table 106.
- the controller 162 controls the arm tool 114 to rotate about the pin connector 302 from the second position 300 (as depicted in Fig. 15 ) to the first position 200 (as depicted in Fig. 16 ).
- the arm tool 114 includes a pneumatic cylinder (not shown) that applies a force to an end of the arm tool 114 and causes the arm tool to rotate about the pin connector 302.
- the controller 160 coordinates the rotation of the arm tool 114 from the second fixed position 300 to the first fixed position 200 based on the spatial positioning of the arm tool 114.
- the controller 162 is programmed to rotate the arm tool 114 from the second position 300 to the first position 200 at a specific point in the sequence of movements of the manufacturing cycle and based on the position of the arm tool 114 in three-dimensional space.
- the vertical projection 120 of the robotic arm 104 translates along the lateral boom 118 until the controller 160 receives a signal with coordinates indicating that the second set of suction cups 204 is positioned over the center of a second pair of dialyzer housings 906, 908 on the cooling table 106.
- the lateral boom 118 of the robotic arm 104 travels along the tracks 122 of the base 116 of the robotic arm 104 until the controller 160 receives a signal from the rotary encoder(s) that indicates that the robot has reached a position with corresponding with the second set of suction cups 204 being positioned over the center of the second pair of dialyzer housings 906, 908 on the cooling table 106. As depicted in Fig.
- the first pair of suction cups 220 of the second set 202 is aligned with the first dialyzer housing 906, and the second pair of suction cups 222 of the second set 202 is aligned with the second dialyzer housing 908 to enable each pair of suction cups 220, 222 to couple with the respective dialyzer housing 906, 908.
- the controller 162 controls the vertical projection 120 of the robotic arm 104 to extend a predetermined distance to lower the arm tool 114 towards the dialyzer housings 906, 908.
- the controller 162 controls vacuum suction to be applied through the vacuum lines 152, 154, 156 to the pairs of suction cups 220, 222, and through the center of each suction cup in the pairs of suction cups 220, 222 in order to couple the dialyzer housings 906, 908 to the pairs of suction cups 220, 222.
- the vertical projection 120 continues to extend until the controller 160 receives a signal from the rotary encoders indicating that the vertical projection 120 has extended a predetermined distance and receives a signal from a vacuum confirmation sensor indicating that the first and second pairs of suction cups 220, 222 are in contact with the surface of the dialyzer housings 906, 908 and coupled to the dialyzer housings 906, 908, respectively.
- each suction cup in the pairs 220, 222 includes an opening through its center, and each suction cup in the pairs 220, 222 is fluidly coupled to a vacuum source (e.g., vacuum source 150 of Fig. 1 ) via vacuum lines 152, 154, 156, enabling suction to be applied through the center of each suction cup.
- a vacuum source e.g., vacuum source 150 of Fig. 1
- the suction force applied through the pairs of suction cups 220, 222 is transferred to the surface of the dialyzer housings 906, 908, which couples the dialyzer housings 906, 908 to the suction cup pairs 220, 222.
- FIG. 18 depicts a perspective view of the arm tool 114 positioned to couple a pair of dialyzer housings 1006, 1008 to the first and second pairs of suction cups 220, 222, respectively, of the second set of suction cups 204 in order to remove the dialyzer housings 1006, 1008 from the cooling table 106.
- the controller 162 controls the vertical projection 120 of the robotic arm 104 to retract to lift the dialyzer housings 906, 908 off the cooling table 106. As the vertical projection 120 retracts, suction is continually applied through the pairs of suction cups 220, 222 to maintain the coupling of the dialyzer housings 906, 908 to the arm tool 114.
- the vertical projection 120 travels along the lateral boom 118 of the robotic arm 104 until the controller 162 receives a signal from the rotary encoder(s) that the vertical projection 120 has travelled a predetermined distance corresponding with a position of the arm tool 114 in three-dimensional space that positions the second set of suction cups 204 over the storage container 108, as depicted in Fig. 20 .
- the lateral boom 118 of the robotic arm 104 travels along the tracks 122 of the base 116 of the robotic arm 104 until the controller 160 receives a signal from the rotary encoder(s) that the lateral boom 118 has travelled a predetermined distance corresponding with a position of the arm tool 114 in three-dimensional space that positions the second set of suction cups 204 over the storage container 108.
- the vertical projection 120 of the robotic arm 104 extends a predetermined amount, as determined by the rotary encoders of the robotic arm 104, to lower the dialyzer housings 906, 908 into the storage container 108.
- the controller controls the movement of the robotic arm 104 components to position the housings 906 and 908 at has a programmed position in three-dimensional space.
- the controller 162 stops the application of the vacuum suction through the second set of suction cups 204 to decouple the housings 906, 908 from the suction cups 204 and place the housings 906, 908 in the predetermined position in the container 108.
- the controller 162 tallies the number of housings placed in the container to determine the unique position for placing each housing in the spatial volume of the container 108.
- the length of the posts 214, 216 is maximized, which allows the dialyzer housings 906, 908 to be placed at the bottom of the storage container 108 without dropping the dialyzer housings 906, 908 a significant distance. As such, the risk of damage to the dialyzer housings 906, 908 during packing of the housings 906, 908 in the storage container 108 is reduced.
- the surface of the second pair of dialyzer housings 906, 908 is allowed to cool on the cooling table 106 to a temperature ranging between about 200 °F to about 250 °F.
- the dialyzer housings 906, 908 each rest on the cooling table 106 about 51 seconds to about 70 seconds before being packed in the storage container 108.
- the vertical projection 120 of the robotic arm 104 retracts to raise the arm tool 114 out of the storage container 108.
- the vertical projection 120 moves along the lateral boom 118 and the lateral boom 118 moves along the base 116 to reposition the robotic arm 104 and arm tool 114 over the injection molding device 102 in preparation for retrieving another set of dialyzer housings from the injection molding device 102.
- the robotic arm moves to the position depicted in Fig. 6 in preparation for retrieving another pair of dialyzer housings from the injection molding device 102.
- This dialyzer housing manufacturing process continues until the storage container 108 is filled with dialyzer housings. Once filled, the storage container 108 is replaced with a new, empty storage container, and the process continues.
- the filled storage container 108 can be used to pack or store the dialyzer housings within the storage container 108.
- the method of demolding and packing the dialyzer housings has been described as relying signals received from rotary encoders to determine the coordinates of the arm tool 114 in three-dimensional space in order to coordinate the movements of the injection molding device 102, the movements of the robotic arm 104, the rotation of the arm tool 114, and the application of vacuum suction
- the movements of the injection molding device 102, the robotic arm 104, the rotation of the arm tool 114, and/or the application of vacuum suction through the suction cups 202, 204 can be coordinated based on timing.
- the robotic arm 104 moves between each of the positions of the manufacturing cycle at a predictable rate.
- the times at which rotation of the arm tool 114 between the first position 200 and the second position 300 should occur can be determined. Further, the times at which vacuum suction should be applied through each of the sets of suction cups 202, 204 to couple the dialyzer housings to the appropriate set of suction cups 202, 204 can be determined. Based on this determination, the controller 160 can be programmed to automatically move the robotic arm 104, rotate the arm tool 114, and apply vacuum suction through the suction cup sets 202, 204 at predetermined times throughout the manufacturing cycle.
- system 100 has been described as including a robotic arm 104 with a lateral boom 118 and vertical projection 120, other types of robotic components may be used to position the arm tool 114 and perform the method of demolding and packing the dialyzer housings.
- the arm tool 114 has been described as including rectangular platform 206 and a U-shaped platform 212 with particular dimensions, platforms of other sizes and shapes can be used to support the suction cups of the arm tool 114.
- the widths 270, 370 of the profile of the arm tool 114 in the first and second positions 200, 300 have been described as being about 16 cm to about 17 cm (e.g., about 16.5 cm) and about 35 cm to about 36 cm (e.g., about 35.5 cm), respectively, the arm tool 114 can be configured to have different profile widths in each position 200, 300.
- the arm tool 114 has been described as including 8 total suction cups, other numbers of suction cups are possible.
- the arm tool includes four total suction cups, with two suction cups in the first set 202 and two suction cups in the second set 204.
- one suction cup is coupled to each post 214, 216 of the U-shaped platform 212, and one suction cup is attached to each end of the rectangular platform 206.
- a single suction cup is used to couple the arm tool 114 to a single dialyzer housing.
- the arm tool can include a greater number of suction cups (e.g., 12 total suction cups, 16 total suction cups, etc.).
- the arm tool 114 has been described as having an equal number of suction cups in the first set 202 and the second set 204, alternatively, the first set of suction cups 202 and the second set of suction cups 204 can each include a different number of suction cups.
- the arm tool 114 has been described as having a first set of suction cups 202 that is oriented about 90 degrees relative to the second set of suction cups 204, other orientations of the first and second set of suction cups can be used.
- the first set of suction cups 202 is oriented about 70 degrees to about 110 degrees relative to the second set of suction cups 204.
- the first set of suction cups 202 is oriented about 70 degrees to about 110 degrees relative to the second set of suction cups 204.
- the arm tool 114 can be configured to couple to other numbers of dialyzer housings.
- the arm tool 114 can be configured to couple to a single dialyzer housing.
- the arm tool 114 can include a total of two suction cups: a first suction cup coupled to a first portion of the frame of the tool (e.g., the rectangular platform 206) and a second suction cup coupled to a second portion of the frame of the tool (e.g., the U-shaped platform 212), and the tool 114 can be configured to couple to a single dialyzer housing.
- the arm tool 114 can be configured to couple to three or more dialyzer housings simultaneously.
- the injection molding device 102 has been described being configured to form two dialyzer housings simultaneously, alternatively, the injection molding device 102 may be configured to form a different number of dialyzer housings (e.g., 1, 3, 4, etc.).
- the arm tool 114 can be controlled to rotate a different amount between the first position 200 and the second position 300.
- the arm tool 114 rotates between about 70 degrees and about 110 degrees between the first position 200 and the second position 300.
- the arm tool 114 has been described as rotating between a first fixed position 200 and a second fixed position 300, alternatively, the arm tool 114 can move fluidly between various positions during the manufacturing cycle without stopping at fixed positions.
- robotic arm 104 and arm tool 114 have been described as being used in a system for manufacturing dialyzer housings, alternatively, the robotic arm 104 and arm tool 114 can be used for manufacturing other items.
- the robotic arm 104 and the arm tool 114 can be used to demold other types of components from an injection mold.
- arm tool 114 has been described as being coupled to the robotic arm 104 with a pin connector 302, alternatively, other coupling mechanisms can be used to couple the arm tool 114 to the robotic arm 104.
- the injection molding device 102 has been described as having four mold alignment pins, alternatively, the injection molding device 102 may include a different number of mold alignment pins (e.g., 2, 3, 5, 6, etc.). Similarly, while the injection molding device 102 has been described as having four core alignment pins, alternatively, the injection molding device 102 may include a different number of core alignment pins (e.g., 2, 3, 5, 6, etc.).
- the mold can open other distances.
- the second mold half 112 is moved about 200 mm to about 240 mm apart from the first mold half 110 to accommodate the insertion of the arm tool 114 (positioned in the first position 200) between the mold halves 110, 112.
Description
- This disclosure relates to a robotic arm tool for use in dialyzer manufacturing.
- Hemodialysis is a treatment used to support a patient with insufficient renal function. During hemodialysis, a patient's blood is passed through a dialyzer of a dialysis machine while also passing a dialysis solution or dialysate through the dialyzer. Dialyzers include a housing and a semi-permeable membrane contained within the housing of the dialyzer. The semi-permeable membrane separates the blood from the dialysate within the dialyzer and allows diffusion and osmosis exchanges to take place between the dialysate and the blood stream. The housings of dialyzers are typically manufactured using an injection molding process.
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JP H07 205219 -
CN 104260282 describes a a mold used for making housings of hemodialyzers, hemofilters and the like. - In one aspect, a dialyzer housing manufacturing system includes a molding device configured to injection mold a dialyzer housing, and a tool coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded. The injection molding device comprises an injection mold that includes two mold halves and an alignment pin coupled to a first of the halves, wherein the alignment pin remains partially inserted into a second of the halves when the injection mold is opened after molding the dialyzer housing. The tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.
- Embodiments can include one or more of the following features in any combination.
- In certain embodiments, the first and second suction cups are fluidly coupled to a vacuum source.
- In some embodiments, the dialyzer housing manufacturing system further includes a third suction cup connected to the first portion of the frame, a fourth suction cup connected to the first portion of the frame, a fifth suction cup connected to the first portion of the frame, a sixth suction cup connected to the second portion of the frame, a seventh suction cup connected to the second portion of the frame; and an eighth suction cup connected to the second portion of the frame, the sixth, seventh, and eighth suction cups being oriented about 70 degrees to about 110 degrees relative to the third, fourth, and fifth suction cups..
- In certain embodiments, the molding device is configured to mold two dialyzer housings.
- In some embodiments, the tool is configured to simultaneously retrieve two dialyzer housings from the molding device.
- In some embodiments, the tool is rotatable between a first position and a second position.
- In certain embodiments, the dialyzer housing manufacturing system further includes a pneumatic cylinder, and a rotation pin, wherein the rotation pin couples the tool to the robotic arm, and the tool is configured to rotate about the rotation pin in response to a force applied to the tool by the pneumatic cylinder.
- In some embodiments, a width of the tool in the first position is about 16 cm to about 17 cm.
- In certain embodiments, the molding device is configured to open a pair of mold halves between about 200 mm to about 240 mm after molding the dialyzer housing.
- In some embodiments, a width of the tool in the second position is about 35 cm to about 36 cm.
- In some embodiments, the dialyzer housing manufacturing system further includes a cooling table for cooling the dialyzer housing.
- In certain embodiments, the dialyzer housing manufacturing system further includes a storage container for storing the dialyzer housing.
- In a further aspect, a method includes opening an injection mold to expose a first dialyzer housing, wherein the injection mold includes two mold halves and an alignment pin coupled to a first of the halves, and wherein the alignment pin remains partially inserted into a second of the halves when the injection mold is opened, coupling the first dialyzer housing to a first portion of a tool, moving the tool to remove the first dialyzer housing from the mold, rotating the tool about 70 degrees to about 110 degrees to orient the first portion of the tool in a first direction, placing the first dialyzer housing at a first location using the tool, rotating the tool about 70 degrees to about 110 degrees to orient a second portion of the tool in the first direction, coupling a second dialyzer housing at the first location to the second portion of the tool, and placing the second dialyzer housing at a second location using the tool.
- Embodiments can include one or more of the following features in any combination.
- In some embodiments, the mold is opened about 200 mm to about 240 mm.
- In certain embodiments, coupling the first dialyzer housing to a first portion of a tool includes inserting the tool between a first half of the mold and a second half of the mold.
- In some embodiments, inserting the tool between a first half of the mold and the second half of the mold includes extending a robotic arm coupled to the tool between the first half of the mold and the second half of the mold.
- In certain embodiments, coupling the first dialyzer housing to the first portion of the tool includes positioning one or more suction cups coupled to the first portion of the tool proximate the first dialyzer housing, and applying vacuum suction through an opening in each of the one or more suction cups.
- In some embodiments, placing the first dialyzer housing at a first location using the tool includes positioning the first dialyzer housing proximate the first location using the tool, and stopping the application of vacuum suction through the opening of each of the one or more suction cups.
- In certain embodiments, coupling a second dialyzer housing at the first location to the second portion of the tool includes positioning one or more suction cups coupled to the second portion of the tool proximate the second dialyzer housing, and applying vacuum suction through an opening in each of the one or more suction cups.
- In some embodiments, placing the second dialyzer housing at a second location using the tool includes positioning the second dialyzer housing proximate the second location using the tool, and stopping the application of vacuum suction through the opening of each of the one or more suction cups.
- In certain embodiments, the method further includes coupling a third dialyzer housing to the first portion of the tool, and moving the tool to remove the third dialyzer housing from the mold, wherein the first dialyzer housing and the third dialyzer housing are removed from the mold simultaneously.
- In some embodiments, the method further includes coupling a fourth dialyzer housing at the first location to the second portion of the tool, and placing the fourth dialyzer housing at the second location using the tool, wherein the second dialyzer housing and the fourth dialyzer housing are placed at the second location simultaneously.
- In certain embodiments, the first location comprises a cooling table.
- In some embodiments, the second location comprises a storage container.
- In a further aspect, a device for removing a dialyzer housing from a mold includes a tool coupled to a robotic arm, and a pin rotatably coupling the tool to the robotic arm. The tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.
- Embodiments can include one or more of the following features in any combination.
- In certain embodiments, the first and second suction cups are fluidly coupled to a vacuum source.
- In some embodiments, the device further includes a third suction cup connected to the first portion of the frame, a fourth suction cup connected to the first portion of the frame, a fifth suction cup connected to the first portion of the frame, a sixth suction cup connected to the second portion of the frame, a seventh suction cup connected to the second portion of the frame, and an eighth suction cup connected to the second portion of the frame, the sixth, seventh, and eighth suction cups being oriented about 70 degrees to about 110 degrees relative to the third, fourth, and fifth suction cups.
- In certain embodiments, the tool is configured to rotate about 70 degrees to about 110 degrees between a first position and second position about the pin.
- In some embodiments, a width of the tool in the first position is about 16 cm to about 17 cm.
- In certain embodiments, a width of the tool in the second position is about 35 cm to about 3 6 cm.
- In a further aspect, a dialyzer housing manufacturing system includes a molding device configured to mold a dialyzer housing, and a tool coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded. The tool includes a frame, a first suction cup connected to a first portion of the frame, and a second suction cup connected to a second portion of the frame, wherein the tool is rotatable between a first position in which the first suction cup extends in a first direction and a second position in which the second suction cup extends in the first direction, and the width of the tool in the second position is greater than the width of the tool in the first position.
- The width of the tool in the first position is measured linearly from the first suction cup to an opposite edge of the tool, and the width of the tool in the second position is measured linearly from the second suction cup to an opposite edge of the tool.
- Advantages of the systems, devices, and methods described herein include reduced wear on the injection molding device. For example, by using a rotatable arm tool to minimize the amount that the mold must be opened during removal of a dialyzer housing from the mold ("de-molding"), the amount of wear on the injection molding device is reduced. In addition, by using a rotatable arm tool to minimize the amount that the mold must be opened during de-molding, the alignment pins of the molding device can remain engaged during de-molding, which reduces the risk of damage to the injection molding device. Another advantage is that the overall time required to perform injection molding of the dialyzer housing is reduced by using a rotatable arm tool to minimize the amount the mold must be opened during de-molding.
- Other aspects, features, and advantages will be apparent from the description and drawings, and from the claims
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Fig. 1 depicts a system for manufacturing a dialyzer housing that includes a molding device and a robotic arm tool. -
Fig. 2 is a perspective view of the robotic arm tool of the system ofFig. 1 in a first position. -
Fig. 3 is a perspective view of the robotic arm tool of the system ofFig. 1 in a second position. -
Fig. 4 is a side view of the molding device of the system ofFig. 1 . -
Figs. 5 is a front view of a portion of the molding device of the system ofFig. 1 . -
Figs. 6-21 depict an example process for manufacturing a dialyzer housing using the system ofFig. 1 . - Referring to
Fig. 1 , a dialyzerhousing manufacturing system 100 includes aninjection molding device 102, arobotic arm 104, a cooling table 106, and astorage container 108. - As depicted in
Fig. 1 , the injection mold includes twomold halves injection molding device 102 to form a cavity in which adialyzer housing 124 can be molded. For example, as depicted inFig. 1 , during injection molding of thedialyzer housing 124, the mold halves 110, 112 are pressed together and molten resin is injected into the cavity formed by the mold halves 110, 112 to mold thedialyzer housing 124. Once thedialyzer housing 124 is molded, the mold halves 110, 112 open to expose thedialyzer housing 124 and allow for retrieval of thedialyzer housing 124 from theinjection molding device 102. - Once the dialyzer housing has been formed by the
injection molding device 102, therobotic arm 104 is used to retrieve thedialyzer housing 124 from theinjection molding device 102. As depicted inFig. 1 , anarm tool 114 is coupled to an end of therobotic arm 104. As described in further detail herein, thearm tool 114 can apply a suction force to thedialyzer housings 124 to remove thedialyzer housings 124 from theinjection molding device 102. - Once the
dialyzer housing 124 has been removed from theinjection molding device 102 using thearm tool 114, therobotic arm 104 andarm tool 114 are used to place thedialyzer housing 124 on the cooling table 106. For example, thearm tool 114 can rotate about the end of therobotic arm 104 to position adialyzer housing 124 coupled to thearm tool 114 on the cooling table 106. The cooling table 106 is configured to provide air flow around thedialyzer housing 124 to reduce the temperature of the surface of the newly moldeddialyzer housing 124. As depicted inFig. 1 , the cooling table 106 includes multiple coolingracks 138, which allows formultiple dialyzer housings 124 to be positioned on the cooling table 106. - Once the surface of the
dialyzer housing 124 has cooled to a temperature ranging from about 115 °C to about 125 °C, a portion of thearm tool 114 couples to thedialyzer housing 124. Therobotic arm 104 and thearm tool 114 lifts thedialyzer housing 124 off the cooling table 106 and places thedialyzer housing 124 within thestorage container 108. Once thestorage container 108 is filled with dialyzer housings, a new, empty storage container is provided, and the filledstorage container 108 can be used to store or ship the dialyzer housings packed within thestorage container 108. - Still referring to
Fig. 1 , therobotic arm 104 of the dialyzerhousing manufacturing system 100 includes abase 116, alateral boom 118, and avertical projection 120. Thebase 116 is stationary relative to theinjection molding device 102 and includes a set oftracks 122 extending along the length of a top surface of thebase 116. The position of thearm tool 114 can be adjusted by moving various components of therobotic arm 104. For example, thevertical projection 120 can traverse along the length on thelateral boom 118 and the lateral boom can traverse crosswise along the length of the base 116 by traveling along thetracks 122. In addition, thevertical projection 120 is configured to extend to lower thearm tool 114 and retract to raise thearm tool 114. By coordinating the movements of thelateral boom 118 and thevertical projection 120, thearm tool 114 can be precisely positioned within three dimensional space. - As depicted in
Fig. 1 , the dialyzerhousing manufacturing system 100 also includes a set ofcontrollers first controller 160 is configured to control theinjection molding device 102, and asecond controller 162 is configured to control therobotic arm 104 and thearm tool 114. Thecontrollers injection molding device 102, therobotic arm 104, and thearm tool 114. By controlling the timing and movements of theinjection molding device 102, therobotic arm 104, and thearm tool 114, thecontrollers arm tool 114 to engage and movedialyzer housings 124 throughout the dialyzerhousing manufacturing system 100. For example, the injectionmolding device controller 160 signals therobotic arm controller 162 when themolds robotic arm controller 162 controls therobotic arm 104 andarm tool 114 to retrieve the dialyzer housings from themolds - Further, the
injection molding device 102 and therobotic arm 104 each include rotary encoder(s) (not shown) that are communicably coupled to thecontrollers controllers injection molding device 102 androbotic arm 104. For example, rotary encoder(s) are used to measure the number of rotations of the motor(s) of therobotic arm 104 has completed. Thecontroller 162 can determine the direction and distance that thelateral boom 118 and/orvertical projection 120 of therobotic arm 104 has travelled based on the number of rotations that the motor(s) of therobotic arm 104 has completed, as detected by the rotary encoder(s). Based on determining the direction and distance that thelateral boom 118 and/orvertical projection 120 has travelled based on the signals received from the rotary encoder(s), thecontroller 162 can determine the position of thearm tool 114 in three-dimensional space. Similarly, rotary encoders are used to measure the number of rotations of the motor(s) used to move themold controller 160 can determine the direction and distance that themold half 112 of theinjection molding device 102 has travelled based on the number of rotations that the motor(s) of theinjection molding device 102 has completed, as detected by the rotary encoder(s). Each of the components of theinjection molding device 102 and therobotic arm 104 are configured to move predetermined distances throughout the process cycle in order to conduct molding and transporting the dialyzer housings. In some embodiments, the rotary encoders of theinjection molding device 102 and therobotic arm 104 each determine the number of rotations that the motor(s) of theinjection molding device 102 and therobotic arm 104, respectively, have completed based on signals received from a proximity switch(es) communicably coupled to the encoders. In some embodiments, the rotary encoders of theinjection molding device 102 and therobotic arm 104 each determine the number of rotations that the motor(s) of theinjection molding device 102 and therobotic arm 104, respectively, have completed based on magnets of the rotary encoders. -
Fig. 2 depicts a perspective view of thearm tool 114 in afirst position 200. As depicted inFig. 2 , thearm tool 114 includes eightsuction cups frame 280. - Each
suction cup dialyzer housing 124 that is formed by theinjection molding device 102. For example, eachsuction cup suction cup suction cup suction cups - The suction cups 230, 232, 234, 236, 238, 240, 242, 244 are divided into a first set of
suction cups 202, which includessuction cups suction cups 204, which includessuction cups Fig. 2 , the first set ofsuction cups 202 is coupled to a first portion 282 of theframe 280, and the second set ofsuction cups 204 is coupled to asecond portion 284 of theframe 280. As can be seen inFigs. 2 and3 , the first set ofsuction cups 202 are coupled to theframe 280 such that thefirst set 202 is oriented about 90 degrees relative to the second set ofsuction cups 204. - Referring to
Fig. 1 , thesystem 100 includes avacuum source 150 that is fluidly coupled to each set ofsuction cups vacuum line 152 that extends along thevertical projection 120. Thecontroller 160 controls the application of vacuum suction through each set ofsuction cups suction cups vacuum source 150 applies a vacuum pressure in a range of about 0.35 MPa to about 0.50 MPa to the ends of each of the suction cups. Any of various suitable pumps can be used as thevacuum source 150, such as a suction pump, a positive displacement pump, a venturi pump, etc. - The
vacuum source 150 is communicatively coupled to acontroller 160, which controls the timing of the application of suction by thevacuum source 150 through thesets arm tool 114. For example, thecontroller 160 can coordinate the vacuum suction with the movements of therobotic arm 104 and thearm tool 114 in order to selectively apply vacuum suction through one of the sets ofsuction cups arm tool 114. - As depicted in
Fig. 2 , the first portion 282 of theframe 280 forms arectangular platform 206 and the first set ofsuction cups 202 is attached to therectangular platform 206. When thearm tool 114 is in a first position 200 (as depicted inFig. 1 ), therectangular platform 206 is positioned such that the first set ofsuction cups 202 coupled to theplatform 206 point sideways relative to thevertical projection 120 of therobotic arm 104. As depicted inFig. 2 , the first set ofsuction cups 202 includes two pairs ofsuction cups suction cup first set 202 is coupled to therectangular platform 206 proximate a respective corner of therectangular platform 206. - The first set of
suctions cups 202 is configured to simultaneously couple to two dialyzer housings, with the first pair ofsuction cups 208 coupling to a first dialyzer housing and the second pair ofsuction cups 210 coupling to a second dialyzer housing. As previously discussed, each of the suction cups in thefirst set 202 includes an opening therethrough. The first set ofsuction cups 202 are fluidly coupled to thevacuum line 152, which is coupled to thevacuum source 150, and vacuum suction can be provided through thevacuum line 152 to the first set ofsuction cups 202 in order to couple a pair of dialyzer housings to the first set ofsuction cups 202. - In some examples, the
rectangular platform 206 has a total width of about 9 cm to about 11 cm (e.g., about 10.16 cm), a total length of about 16 cm to about 17 cm (e.g., about 16.51 cm), and a total thickness of about 1 cm to about 3 cm (e.g., about 2.54 cm). - Still referring to
Fig. 2 , thesecond portion 284 of theframe 280 forms aU-shaped platform 212, and the second set ofsuction cups 204 is attached to aU-shaped platform 212. TheU-shaped platform 212 includes afirst post 214, asecond post 216, and aconnector bar 218. Thefirst post 214 is coupled to a first end of theconnector bar 218 and thesecond post 216 is coupled to a second end of theconnector bar 218 opposite thefirst post 214. As depicted inFig. 2 , the longitudinal axis of theconnector bar 218 is substantially perpendicular to the longitudinal axis of each of theposts arm tool 114 is in the first position 200 (as depicted inFig. 2 ), the longitudinal axis of each of theposts vertical projection 120 of therobotic arm 104. As depicted inFig. 2 , therectangular platform 206 is coupled to theconnector bar 218 of theU-shaped platform 212. - In some examples, each
post U-shaped platform 212 has a total width of about 7 cm to about 8 cm (e.g., about 7.62 cm), a total length of about 22 cm to about 24 cm (e.g., about 25.4 cm), and a total thickness of about 1 cm to about 3 cm (e.g., about 3.81 cm). In some examples, theconnector bar 218 of theU-shaped platform 212 has a total width of about 7 cm to about 8 cm (e.g., about 7.62 cm), a total length of about 16 cm to about 17 cm (e.g., about 16.51 cm), and a total thickness of about 1 cm to about 3 cm (e.g., about 2.54 cm). - Similar to the first set of
suction cups 202, the second set ofsuction cups 204 also includes a first pair ofsuction cups 220 and a second pair ofsuction cups 222, totaling four suction cups in thesecond set 204. As depicted inFig. 2 , the first pair ofsuction cups 220 of thesecond set 204 is coupled to an end of thefirst post 214, and the second pair ofsuction cups 222 of thesecond set 204 is coupled to an end of thesecond post 216. - As depicted in
Fig. 2 , the second set ofsuctions cups 204 is configured to couple to two dialyzer housings, with the first pair ofsuction cups 220 coupling to afirst dialyzer housing 224 and the second pair ofsuction cups 222 coupling to asecond dialyzer housing 226. For example, as previously discussed, each of the suction cups in thesecond set 204 includes an opening therethrough. In addition, theposts vacuum line vacuum line 152 to allow suction to be applied through second set ofsuction cups 204 to couple a pair of dialyzer housings to the second set ofsuction cups 204. -
Fig. 3 depicts thearm tool 114 in asecond position 300. As shown inFig. 3 , when thearm tool 114 is in thesecond position 300, the longitudinal axis of each of theposts U-shaped platform 212 are perpendicular to the longitudinal axis of thevertical projection 120 of therobotic arm 104. In addition, when thearm tool 114 is in thesecond position 300, the first set ofsuction cups 202 coupled to therectangular platform 206 are facing downward. - As depicted in
Fig. 3 , thearm tool 114 is coupled to an end of thevertical projection 120 of therobotic arm 104 using apin connector 302, and is rotatable about the end thevertical projection 120 via thepin connector 302. For example, thearm tool 114 can rotate about 0 degrees to about 90 degrees about thepin connector 302. In some embodiments, thearm tool 114 rotates about 90 degrees about thepin connector 302 between the first position 200 (depicted inFig. 2 ) and the second position 300 (depicted inFig. 3 ). Thearm tool 114 also includes a pneumatic cylinder (not shown), which applies a force to an end of thearm tool 114 and causes the arm tool to rotate about thepin connector 302. Thecontroller 160 controls and coordinates the rotation of thearm tool 114 between thefirst position 200 and thesecond position 300 during manufacturing and packaging the dialyzer housings. For example, thecontroller 160 signals the pneumatic cylinder of thearm tool 114 to extend or retract to rotate thearm tool 114 between thefirst position 200 and thesecond position 300. - As can be seen in
Figs. 2 and3 , thewidth 270 of the profile of thearm tool 114 in thefirst position 200 is smaller than thewidth 370 of the profile of thearm tool 114 in thesecond position 300. For example thewidth 270 of the profile of thearm tool 114 in thefirst position 200 can be about 16 cm to about 17 cm (e.g., about 16.5 cm), and thewidth 370 of the profile of thearm tool 114 in thesecond position 300 can be about 35 cm to about 36 cm (e.g., about 35.5 cm). Thewidth 270 of the profile of thearm tool 114 in thefirst position 200 can be about 18 cm to about 20 cm less than thewidth 370 of the profile of thearm tool 114 in thesecond position 300. As depicted inFig. 2 , thewidth 270 of thetool 114 in thefirst position 200 is measured linearly from the first set ofsuction cups 202 to an opposite edge of the tool. As depicted inFig. 3 , thewidth 370 of thetool 114 in thesecond position 300 is measured linearly from the second set ofsuction cups 204 to an opposite edge of thetool 114. - Rotating the
arm tool 114 between thefirst position 200 and thesecond position 300 reduces the amount theinjection molding device 102 must be opened to enable thearm tool 114 to fit between themolds arm tool 114 to reach the bottom of thestorage container 108 to place the dialyzer housings within thestorage container 108. Minimizing the amount theinjection molding device 102 must be opened to enable thearm tool 114 to remove thedialyzer housing 124 from the mold halves 110,112 can reduce the wear on the molds 110,112. In addition, minimizing the amount the mold halves 110, 112 must be opened during de-molding can reduce the risk of misalignment of the mold halves 110, 112, and can thus reduce the risk of damage to theinjection molding device 102. Further, minimizing the amount theinjection molding device 102 must be opened during de-molding can reduce the time required to open themolding injection device 102 during de-molding, which can reduce the overall time required to manufacture thedialyzer housing 124. -
Fig. 4 depicts a side view of theinjection molding device 102 of the dialyzerhousing manufacturing system 100. As depicted inFig. 4 , theinjection molding device 102 includes afirst mold half 110 and asecond mold half 112. The mold halves 110, 112 of theinjection molding device 102 are configured to form two dialyzer housings at the same time. -
Fig. 5 depicts a front view of thefirst mold half 110 of theinjection molding device 102. As depicted inFig. 5 , thefirst mold half 110 includes twocavities - The
cavities dialyzer housing 124. Thesecond mold half 112 includes two corresponding cavities (not shown). During injection molding, thecavities first mold half 110 and the cavities of thesecond mold half 112 are aligned, the mold halves 110, 112 are positioned against one another, and molten material is injected into the cavities. As the injected material cools, the material takes the form of the cavities in the first and second mold halves 110, 112 to form thedialyzer housings 124. Thedialyzer housings 124 can be formed of any of various different medical grade materials. Examples of such materials include polycarbonate, polypropylene, etc. - As depicted in
Fig. 5 , thefirst mold half 110 includes a first set of four mold alignment pins 510, 512, 514, 516 and a second set of mold alignment pins 520, 522, 524, 526 projecting outward from theinterior surface 518 of thefirst mold half 110. The mold alignment pins 510, 512, 514, 516, 520, 522, 524, 526 ensure proper alignment and a secure fitting between the twomold halves injection molding device 102 are properly aligned, the mold alignment pins 510, 512, 514, 516, 520, 522, 524, 526 align with and are inserted into corresponding openings in the second mold half 112 (not shown). - As depicted in
Fig. 4 , once the injection molding is complete, thesecond mold half 112 is moved apart fromfirst mold half 110 by apredetermined distance 450 to expose the dialyzer housings formed by theinjection molding device 102. In some cases, thesecond mold half 112 is moved about 230 mm apart from thefirst mold half 110 to accommodate the insertion of the arm tool 114 (positioned in the first position 200) between the mold halves 110, 112. Thearm tool 114 is used to remove thedialyzer housings 424 from thesecond mold half 112. - As depicted in
Fig. 4 , the mold alignment pins 510, 512, 514, 516 and core alignment pins 520, 522, 524, 526 of thesecond mold half 112 remain at least partially inserted in the corresponding openings in thefirst mold half 110 throughout the injection molding process. By positioning thearm tool 114 in thefirst position 200 to minimize the distance between the mold halves 110, 112 required to insertarm tool 114 between the mold halves 110, 112, the alignment pins 510, 512, 514, 516, 520, 522, 524, 526 of thesecond mold half 112 can remain partially inserted in the openings of thefirst mold half 110 during de-molding. Leaving the alignment pins 510, 512, 514, 516, 520, 522, 524, 526 of thesecond mold half 112 partially inserted in thefirst mold half 110 during de-molding reduces the risk of misalignment of the mold halves 110, 112 and reduces the risk of damage to the mold halves 110, 112. - The
second mold half 112 also includes ejector pins (not shown) that are used to eject the formeddialyzer housings 424 from thesecond mold half 112. As described in further detail herein, thecontroller 160 coordinates the movement of the ejector pins and the application of suction through thevacuum line 152 to thearm tool 114 such that the ejector pins eject thedialyzer housings 424 from themold 112 and thearm tool 114 provides suction and couples to thedialyzer housings 424 simultaneously. - A method of manufacturing and packing dialyzer housings will now be described with references to
Figs. 6-21 . - As depicted in
Fig. 6 , the mold halves 110, 112 are closed while theinjection molding device 102 performs injection molding of a pair of dialyzer housings (not shown). While theinjection molding device 102 performs injection molding of the dialyzer housings, therobotic arm 104 is in a retracted position such that thearm tool 114 is positioned over the mold halves 110, 112. As depicted inFig. 6 , thearm tool 114 is in thefirst position 200 such that theposts suction cups 204 are pointing downward, and the first set ofsuction cups 202 are oriented laterally relative to thevertical projection 120. - Referring to
Fig. 7 , once injection molding of the dialyzer housings by theinjection molding device 102 is complete, thesecond mold half 112 retracts and moves apart from thefirst mold half 110 to expose the dialyzer housings. The distance between the mold halves 110, 112 is sized to allow thearm tool 114 in thefirst position 200 to be inserted between the mold halves 110, 112 with the first set ofsuction cups 202 facing thesecond mold half 112. For example, the distance between the mold halves 110, 112 in the open position following injection molding is between about 230 mm to accommodate the insertion of thearm tool 114 positioned in thefirst position 200 between the mold halves 110, 112. As previously discussed, the alignment pins 510, 512, 514, 516, 520, 522, 524, 526 of thesecond mold half 112 remain partially inserted in the openings of thefirst mold half 110 through the entire manufacturing process. Thecontroller 160 controls the movement of thesecond mold half 112 to move apart from thefirst mold half 110 by a predetermined distance to open the mold. - As depicted in
Fig. 8 , once the injection molding process is complete and the controller determines, based on signals received from rotary encoders (not shown) in theinjection molding device 102, that thesecond mold half 112 has moved a predetermined amount (e.g., about 230 mm) to expose the dialyzer housings, thecontroller 160 for theinjection molding device 102 transmits a signal to thecontroller 162 for therobotic arm 104 to indicate that themold controller 160 of theinjection molding device 102 indicating that themold controller 162 of therobotic arm 104 controls thevertical projection 120 of therobotic arm 104 to extend to insert thearm tool 114 between thefirst mold half 110 and thesecond mold half 112. Thevertical projection 120 of therobotic arm 104 continues to extend until thecontroller 162 for therobotic arm 104 determines, based on feedback received from rotary encoders (not shown) of therobotic arm 104, that thevertical projection 120 has extended a predetermined distance that corresponds to the first pair ofsuction cups 208 of thefirst set 202 being vertically aligned with a first dialyzer housing in thesecond mold half 112 and the second pair ofsuction cups 210 of thefirst set 202 being vertically aligned with a second dialyzer housing in thesecond mold half 112. -
Fig. 9 depicts a side view of themolding device 102 with thearm tool 114 inserted between the mold halves 110, 112 of themolding device 102. As can be seen inFig. 9 , the first pair ofsuction cups 208 of thefirst set 202 is vertically aligned with afirst dialyzer housing 902 in thesecond mold half 112. In addition, the second pair of suction cups 210 (not shown) of thefirst set 202 is vertically aligned with asecond dialyzer housing 904 in thesecond mold half 112. As previously discussed, thecontroller 162 can determine the position of thearm tool 114 in three-dimensional space based on signals received from rotary encoders (not shown) of therobotic arm 104. Once the controller has reached the fixed spatial location corresponding to alignment between the pairs ofsuction cups dialyzer housings controller 162 ceases extension of thevertical projection 120. - Once the pairs of
suction cups dialyzer housings vertical projection 120 travels along thelateral boom 118 of therobotic arm 104 until each of the suction cups in thepairs dialyzer housings suction cups 202 are vertically aligned with thedialyzer housings controller 162 based on rotary encoder signals, thecontroller 162 controls thevertical projection 120 of therobotic arm 104 to travel laterally along thelateral boom 118 towards thesecond mold half 112. Thevertical projection 120 continues to move towards thesecond mold half 112 until thecontroller 162 determines, based on signals received from the rotary encoder(s) of therobotic arm 104, that the coordinates of thearm tool 114 correspond to a predetermined position corresponding to the first and second pairs ofsuction cups dialyzer housings - Once the pairs of
suction cups dialyzer housings controller 162 initiates the application of suction through the pairs ofsuction cups controller 160 of theinjection molding device 102 to move the ejector pins (not shown) of thesecond mold half 112. The extension of the ejector pins outwards from thesecond mold half 112 forces thedialyzer housings second mold half 112. As the ejector pins of thesecond mold half 112 force thedialyzer housings mold half 112, vacuum suction is applied through each of the pairs ofsuction cups dialyzer housings suction cups pairs pairs vacuum source 150 ofFig. 1 ) viavacuum lines suction cups dialyzer housings housings suction cups first set 202. - Referring to
Fig. 10 , once each of thedialyzer housings second mold half 112 and coupled to the first set ofsuction cups 202 via vacuum suction, thevertical projection 120 of therobotic arm 104 is retracted and suction is continually supplied through the first set ofsuction cups 202 to lift thedialyzer housings injection molding device 102. In some examples, thecontroller 160 determines that thedialyzer housings suction cups 202 based on a signal received from a vacuum confirmation sensor (not shown) on thearm tool 114. Once thevertical projection 120 has retraced to a predetermined position to lift thedialyzer housings injection molding device 102, thecontroller 162 of therobotic arm 104 sends a signal to thecontroller 160 ofinjection molding device 102. In response to receiving the signal fromcontroller 162, thecontroller 160 of theinjection molding device 102 controls thesecond mold half 112 to move thesecond mold half 112 towards the first mold half 110 a predetermined distance corresponding to thehalves Fig. 10 . In addition, as thevertical projection 120 retracts, suction is continually applied through the first set ofsuction cups 202 to maintain the coupling of thedialyzer housings arm tool 114. - After lifting the
dialyzer housings injection molding device 102, therobotic arm 104 andarm tool 114 are used to place thedialyzer housings Figs. 11-15 depict a process of placing thedialyzer housings arm tool 114. - Referring to
Fig. 11 , with thedialyzer housings suction cups 202 of thearm tool 114 via vacuum suction, thelateral boom 118 of therobotic arm 104 travels forward a predetermined distance along thebase 116 of therobotic arm 104. As previously discussed, thebase 116 includes a set oftracks 122 along its length to allow for smooth movement of thelateral boom 118 forward and backward along thebase 116. Thelateral boom 118 continues to travel forward along the base 116 until thecontroller 160 receives a signal from the rotary encoders of therobotic arm 104 indicating that thelateral boom 118 has travelled a predetermined distance corresponding to thearm tool 114 being positioned such that the first set ofsuction cups 202 are positioned over a pair ofempty cooling racks - Still referring to
Fig. 11 , in addition to thelateral boom 118 travelling along thebase 116, thevertical projection 120 travels laterally along the lateral boom 118 a predetermined distance to position thearm tool 114 such that the first set ofsuction cups 202 are positioned over a pair ofempty cooling racks vertical projection 120 continues to travel laterally along thelateral boom 118 until thecontroller 160 receives a signal from rotary encoders of therobotic arm 104 indicating that thevertical projection 120 has travelled a predetermined distance corresponding to thearm tool 114 being positioned such that the first set ofsuction cups 202 are positioned over a pair ofempty cooling racks - As the
robotic arm 104 moves to position thearm tool 114 over the coolingracks arm tool 114 rotates about thepin connector 302 to rotate thearm tool 114 from the first position 200 (as depicted inFig. 10 ) to the second position 300 (as depicted inFig. 12 ).Fig. 11 depicts the rotation of the arm tool between thefirst position 200 and thesecond position 300 as therobotic arm 104 travels towards the cooling table 106. As previously discussed, thearm tool 114 includes a pneumatic cylinder (not shown) that applies a force to an end of thearm tool 114 and causes the arm tool to rotate about thepin connector 302. Thecontroller 160 coordinates the rotation of thearm tool 114 between the firstfixed position 200 and the secondfixed position 300 based on the current location of thearm tool 114 in three-dimensional space, as determined based on the signals received from the rotary encoders of thearm tool 114. For example, thecontroller 162 is programmed to rotate thearm tool 114 from thefirst position 200 to thesecond position 300 at a specific point in the sequence of movements of the manufacturing cycle and based on the position of thearm tool 114 in three-dimensional space. -
Fig. 12 depicts thearm tool 114 positioned in thesecond position 300 with thedialyzer housings suction cups 202, and the first set ofsuction cups 202 facing downwards and aligned over theempty cooling racks - Referring to
Fig. 13 , once thearm tool 114 is in thesecond position 300 with thedialyzer housings empty cooling racks controller 162 from the rotary encoder(s) of therobotic arm 104, thevertical projection 120 of therobotic arm 104 extends a predetermined amount (as detected by the rotary encoder(s) of the robotic arm) to lower thedialyzer housings respective cooling racks robotic arm 104 has lowered thedialyzer housings 902, 904 a predetermined amount into the coolingracks suction cups 202 is stopped, which decouples thedialyzer housings arm tool 114 and releases thehousings racks Fig. 14 depicts a perspective view of thearm tool 114 in thesecond position 300 releasing a pair ofdialyzer housing racks - Once the
dialyzer housings arm tool 114, thearm tool 114 is used to move another pair of dialyzer housings into thestorage container 108.Figs. 15-21 depict a process of moving a pair of dialyzer housings from the cooling table 106 to thestorage container 108. - Referring to
Fig. 15 , once thedialyzer housings arm tool 114, thevertical projection 120 of therobotic arm 104 retracts to lift thearm tool 114 above the cooling table 106. Once lifted above the cooling table 106 a predetermined distance, as measured by rotary encoders of therobotic arm 104, thecontroller 162 controls thearm tool 114 to rotate about thepin connector 302 from the second position 300 (as depicted inFig. 15 ) to the first position 200 (as depicted inFig. 16 ). As previously discussed, thearm tool 114 includes a pneumatic cylinder (not shown) that applies a force to an end of thearm tool 114 and causes the arm tool to rotate about thepin connector 302. Thecontroller 160 coordinates the rotation of thearm tool 114 from the secondfixed position 300 to the firstfixed position 200 based on the spatial positioning of thearm tool 114. For example, thecontroller 162 is programmed to rotate thearm tool 114 from thesecond position 300 to thefirst position 200 at a specific point in the sequence of movements of the manufacturing cycle and based on the position of thearm tool 114 in three-dimensional space. - Referring to
Fig. 17 , once thearm tool 114 is in the first position with the second set ofsuction cups 204 facing downwards towards the cooling table 106, thevertical projection 120 of therobotic arm 104 translates along thelateral boom 118 until thecontroller 160 receives a signal with coordinates indicating that the second set ofsuction cups 204 is positioned over the center of a second pair ofdialyzer housings lateral boom 118 of therobotic arm 104 travels along thetracks 122 of thebase 116 of therobotic arm 104 until thecontroller 160 receives a signal from the rotary encoder(s) that indicates that the robot has reached a position with corresponding with the second set ofsuction cups 204 being positioned over the center of the second pair ofdialyzer housings Fig. 17 , the first pair ofsuction cups 220 of thesecond set 202 is aligned with thefirst dialyzer housing 906, and the second pair ofsuction cups 222 of thesecond set 202 is aligned with thesecond dialyzer housing 908 to enable each pair ofsuction cups respective dialyzer housing - Still referring to
Fig. 17 , once the pairs ofsuction cups second set 204 are positioned over the centers of therespective dialyzer housings controller 162 controls thevertical projection 120 of therobotic arm 104 to extend a predetermined distance to lower thearm tool 114 towards thedialyzer housings controller 162 controls vacuum suction to be applied through thevacuum lines suction cups suction cups dialyzer housings suction cups vertical projection 120 continues to extend until thecontroller 160 receives a signal from the rotary encoders indicating that thevertical projection 120 has extended a predetermined distance and receives a signal from a vacuum confirmation sensor indicating that the first and second pairs ofsuction cups dialyzer housings dialyzer housings - As previously discussed, each suction cup in the
pairs pairs vacuum source 150 ofFig. 1 ) viavacuum lines suction cups dialyzer housings dialyzer housings Fig. 18 depicts a perspective view of thearm tool 114 positioned to couple a pair ofdialyzer housings suction cups suction cups 204 in order to remove thedialyzer housings - Referring to
Fig. 19 , once suction has been applied to thedialyzer housings dialyzer housings suction cups controller 162 from a vacuum confirmation sensor (not shown), thecontroller 162 controls thevertical projection 120 of therobotic arm 104 to retract to lift thedialyzer housings vertical projection 120 retracts, suction is continually applied through the pairs ofsuction cups dialyzer housings arm tool 114. - The
vertical projection 120 travels along thelateral boom 118 of therobotic arm 104 until thecontroller 162 receives a signal from the rotary encoder(s) that thevertical projection 120 has travelled a predetermined distance corresponding with a position of thearm tool 114 in three-dimensional space that positions the second set ofsuction cups 204 over thestorage container 108, as depicted inFig. 20 . In addition, if necessary, thelateral boom 118 of therobotic arm 104 travels along thetracks 122 of thebase 116 of therobotic arm 104 until thecontroller 160 receives a signal from the rotary encoder(s) that thelateral boom 118 has travelled a predetermined distance corresponding with a position of thearm tool 114 in three-dimensional space that positions the second set ofsuction cups 204 over thestorage container 108. - Referring to
Fig. 21 , once thearm tool 114 is positioned over thestorage container 108, thevertical projection 120 of therobotic arm 104 extends a predetermined amount, as determined by the rotary encoders of therobotic arm 104, to lower thedialyzer housings storage container 108. The controller controls the movement of therobotic arm 104 components to position thehousings housings arm tool 114 determined based on signals transmitted by the rotary encoders of therobotic arm 104, thecontroller 162 stops the application of the vacuum suction through the second set ofsuction cups 204 to decouple thehousings suction cups 204 and place thehousings container 108. As thecontainer 108 fills with dialyzer housings, thecontroller 162 tallies the number of housings placed in the container to determine the unique position for placing each housing in the spatial volume of thecontainer 108. By coupling the cooleddialyzer housings suction cups 204 with thearm tool 114 in thefirst position 200, the length of theposts dialyzer housings storage container 108 without dropping thedialyzer housings 906, 908 a significant distance. As such, the risk of damage to thedialyzer housings housings storage container 108 is reduced. - Before being moved into the
storage container 108, the surface of the second pair ofdialyzer housings dialyzer housings storage container 108. - Once the
dialyzer housings storage container 108 and released from thearm tool 114, thevertical projection 120 of therobotic arm 104 retracts to raise thearm tool 114 out of thestorage container 108. In some implementations, after raising thearm tool 114 out of thestorage container 108, thevertical projection 120 moves along thelateral boom 118 and thelateral boom 118 moves along the base 116 to reposition therobotic arm 104 andarm tool 114 over theinjection molding device 102 in preparation for retrieving another set of dialyzer housings from theinjection molding device 102. For example, after raising thearm tool 114 out of thestorage container 108, the robotic arm moves to the position depicted inFig. 6 in preparation for retrieving another pair of dialyzer housings from theinjection molding device 102. - This dialyzer housing manufacturing process continues until the
storage container 108 is filled with dialyzer housings. Once filled, thestorage container 108 is replaced with a new, empty storage container, and the process continues. The filledstorage container 108 can be used to pack or store the dialyzer housings within thestorage container 108. - While certain embodiments have been described above, other embodiments are possible.
- For example, while the method of demolding and packing the dialyzer housings has been described as relying signals received from rotary encoders to determine the coordinates of the
arm tool 114 in three-dimensional space in order to coordinate the movements of theinjection molding device 102, the movements of therobotic arm 104, the rotation of thearm tool 114, and the application of vacuum suction, alternatively, the movements of theinjection molding device 102, therobotic arm 104, the rotation of thearm tool 114, and/or the application of vacuum suction through thesuction cups robotic arm 104 moves between each of the positions of the manufacturing cycle at a predictable rate. Therefore, the times at which rotation of thearm tool 114 between thefirst position 200 and thesecond position 300 should occur can be determined. Further, the times at which vacuum suction should be applied through each of the sets ofsuction cups suction cups controller 160 can be programmed to automatically move therobotic arm 104, rotate thearm tool 114, and apply vacuum suction through the suction cup sets 202, 204 at predetermined times throughout the manufacturing cycle. - While the
system 100 has been described as including arobotic arm 104 with alateral boom 118 andvertical projection 120, other types of robotic components may be used to position thearm tool 114 and perform the method of demolding and packing the dialyzer housings. - While the
arm tool 114 has been described as includingrectangular platform 206 and aU-shaped platform 212 with particular dimensions, platforms of other sizes and shapes can be used to support the suction cups of thearm tool 114. In addition, while thewidths arm tool 114 in the first andsecond positions arm tool 114 can be configured to have different profile widths in eachposition - While the
arm tool 114 has been described as including 8 total suction cups, other numbers of suction cups are possible. For example, in some implementations, the arm tool includes four total suction cups, with two suction cups in thefirst set 202 and two suction cups in thesecond set 204. In this arrangement, one suction cup is coupled to eachpost U-shaped platform 212, and one suction cup is attached to each end of therectangular platform 206. Further, in implementations in which thearm tool 114 includes a total of four suction cups, a single suction cup is used to couple thearm tool 114 to a single dialyzer housing. Alternatively, the arm tool can include a greater number of suction cups (e.g., 12 total suction cups, 16 total suction cups, etc.). - Further, while the
arm tool 114 has been described as having an equal number of suction cups in thefirst set 202 and thesecond set 204, alternatively, the first set ofsuction cups 202 and the second set ofsuction cups 204 can each include a different number of suction cups. - In addition, while the
arm tool 114 has been described as having a first set ofsuction cups 202 that is oriented about 90 degrees relative to the second set ofsuction cups 204, other orientations of the first and second set of suction cups can be used. For example, in some implementations, the first set ofsuction cups 202 is oriented about 70 degrees to about 110 degrees relative to the second set ofsuction cups 204. In some implementations, the first set ofsuction cups 202 is oriented about 70 degrees to about 110 degrees relative to the second set ofsuction cups 204. - While the
arm tool 114 has been described as being configured to couple to two of dialyzer housings simultaneously, alternatively, thearm tool 114 can be configured to couple to other numbers of dialyzer housings. In some implementations, thearm tool 114 can be configured to couple to a single dialyzer housing. For example, thearm tool 114 can include a total of two suction cups: a first suction cup coupled to a first portion of the frame of the tool (e.g., the rectangular platform 206) and a second suction cup coupled to a second portion of the frame of the tool (e.g., the U-shaped platform 212), and thetool 114 can be configured to couple to a single dialyzer housing. Alternatively, thearm tool 114 can be configured to couple to three or more dialyzer housings simultaneously. - Similarly, while the
injection molding device 102 has been described being configured to form two dialyzer housings simultaneously, alternatively, theinjection molding device 102 may be configured to form a different number of dialyzer housings (e.g., 1, 3, 4, etc.). - While the
robotic arm tool 114 has been described as rotating about 90 degrees between afirst position 200 and asecond position 300, thearm tool 114 can be controlled to rotate a different amount between thefirst position 200 and thesecond position 300. For example, in some implementations, thearm tool 114 rotates between about 70 degrees and about 110 degrees between thefirst position 200 and thesecond position 300. - In addition, while the
arm tool 114 has been described as rotating between a firstfixed position 200 and a secondfixed position 300, alternatively, thearm tool 114 can move fluidly between various positions during the manufacturing cycle without stopping at fixed positions. - While the
robotic arm 104 andarm tool 114 have been described as being used in a system for manufacturing dialyzer housings, alternatively, therobotic arm 104 andarm tool 114 can be used for manufacturing other items. For example, therobotic arm 104 and thearm tool 114 can be used to demold other types of components from an injection mold. - While the
arm tool 114 has been described as being coupled to therobotic arm 104 with apin connector 302, alternatively, other coupling mechanisms can be used to couple thearm tool 114 to therobotic arm 104. - While the
injection molding device 102 has been described as having four mold alignment pins, alternatively, theinjection molding device 102 may include a different number of mold alignment pins (e.g., 2, 3, 5, 6, etc.). Similarly, while theinjection molding device 102 has been described as having four core alignment pins, alternatively, theinjection molding device 102 may include a different number of core alignment pins (e.g., 2, 3, 5, 6, etc.). - In addition, while the molding process has been described as moving the
second mold half 112 about 230 mm apart from thefirst mold half 110, the mold can open other distances. For example, in some implementations, thesecond mold half 112 is moved about 200 mm to about 240 mm apart from thefirst mold half 110 to accommodate the insertion of the arm tool 114 (positioned in the first position 200) between the mold halves 110, 112. - A number of embodiments have been described. Nevertheless, it will be understood that various modifications may be made without departing from the scope of the following claims.
Claims (16)
- A dialyzer housing manufacturing system comprising:an injection molding device configured to mold a dialyzer housing (124), wherein the injection molding device comprises an injection mold that includes two mold halves (110, 112) and an alignment pin (510, 512, 514, 516, 520, 522, 524, 526) coupled to a first of the halves, wherein the alignment pin remains partially inserted into a second of the halves when the injection mold is opened after molding the dialyzer housing; anda tool (114) coupled to a robotic arm and configured to retrieve the dialyzer housing from the molding device after the dialyzer housing is molded, the tool comprising:a frame (280);a first suction cup (230, 232, 234, 236, 238, 240, 242, 244) connected to a first portion (282, 284) of the frame; anda second suction cup (230, 232, 234, 236, 238, 240, 242, 244) connected to a second portion (282, 284) of the frame, the second suction cup being oriented about 70 degrees to about 110 degrees relative to the first suction cup.
- The dialyzer housing manufacturing system according to claim 1, further comprising:a third suction cup connected to the first portion of the frame;a fourth suction cup connected to the first portion of the frame;a fifth suction cup connected to the first portion of the frame;a sixth suction cup connected to the second portion of the frame;a seventh suction cup connected to the second portion of the frame; andan eighth suction cup connected to the second portion of the frame, the sixth, seventh, and eighth suction cups being oriented about 70 degrees to about 110 degrees relative to the third, fourth, and fifth suction cups.
- The dialyzer housing manufacturing system according to any one of claims 1-2, wherein the molding device is configured to mold two dialyzer housings, and
optionally wherein the tool is configured to simultaneously retrieve two dialyzer housings from the molding device. - The dialyzer housing manufacturing system according to any one of claims 1-3, wherein the tool is rotatable between a first position and a second position.
- The dialyzer housing manufacturing system according to claim 4, further comprising:a pneumatic cylinder; anda rotation pin (302), wherein:the rotation pin couples the tool to a robotic arm (104); andthe tool is configured to rotate about the rotation pin in response to a force applied to the tool by the pneumatic cylinder.
- The dialyzer housing manufacturing system according to claim 4 or claim 5, wherein a width of the tool in the first position is about 16 cm to about 17 cm, and
optionally wherein the molding device is configured to open a pair of mold halves between about 200 mm to about 240 mm after molding the dialyzer housing. - The dialyzer housing manufacturing system according to any one of claims 4-6, wherein a width of the tool in the second position is about 35 cm to about 36 cm.
- The dialyzer housing manufacturing system according to any one of claims 1-7, further comprising either a cooling table (106) for cooling the dialyzer housing or a storage container (108) for storing the dialyzer housing.
- A method comprising:opening an injection mold to expose a first dialyzer housing (124), wherein the injection mold includes two mold halves (110, 112) and an alignment pin (510, 512, 514, 516, 520, 522, 524, 526) coupled to a first of the halves, and wherein the alignment pin remains partially inserted into a second of the halves when the injection mold is opened;coupling the first dialyzer housing to a first portion of a tool (114);moving the tool to remove the first dialyzer housing from the mold;rotating the tool about 70 degrees to about 110 degrees to orient the first portion of the tool in a first direction;placing the first dialyzer housing (124) at a first location (138) using the tool;rotating the tool about 70 degrees to about 110 degrees to orient a second portion of the tool in the first direction;coupling a second dialyzer housing (124) at the first location to the second portion of the tool; andplacing the second dialyzer housing at a second location using the tool.
- The method according to claim 9, wherein the mold is opened about 200 mm to about 240 mm.
- The method according to claim 9 or claim 10, wherein coupling the first dialyzer housing to the first portion of the tool comprises inserting the tool between a first half of the mold and a second half of the mold, and
optionally wherein inserting the tool between a first half of the mold and the second half of the mold comprises extending a robotic arm coupled to the tool between the first half of the mold and the second half of the mold. - The method according to any one of claims 9-11, wherein coupling the first dialyzer housing to the first portion of the tool comprises:positioning one or more suction cups (230, 232, 234, 236, 238, 240, 242, 244) coupled to the first portion (282, 284) of the tool proximate the first dialyzer housing; andapplying vacuum suction through an opening in each of the one or more suction cups, andoptionally wherein placing the first dialyzer housing at a first location using the tool comprisespositioning the first dialyzer housing proximate the first location using the tool, andstopping the application of vacuum suction through the opening of each of the one or more suction cups.
- The method according to any one of claims 9-12, wherein coupling a second dialyzer housing (124) at the first location to the second portion of the tool comprises:positioning one or more suction cups coupled to the second portion of the tool proximate the second dialyzer housing (124); andapplying vacuum suction through an opening in each of the one or more suction cups, andoptionally wherein placing the second dialyzer housing at a second location using the tool comprisespositioning the second dialyzer housing proximate the second location using the tool, andstopping the application of vacuum suction through the opening of each of the one or more suction cups.
- The method according to any one of claims 9-13, further comprising:coupling a third dialyzer housing (124) to the first portion of the tool; andmoving the tool to remove the third dialyzer housing (124) from the mold, wherein the first dialyzer housing and the third dialyzer housing are removed from the mold simultaneously.
- The method according to any one of claims 9-14, further comprising:coupling a fourth dialyzer housing (124) at the first location to the second portion of the tool; andplacing the fourth dialyzer housing (124) at the second location using the tool, wherein the second dialyzer housing and the fourth dialyzer housing are placed at the second location simultaneously.
- The method according to any one of claims 9-15, wherein either:the first location comprises a cooling table (106); orthe second location comprises a storage container (108).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/703,287 US11623377B2 (en) | 2019-12-04 | 2019-12-04 | Dialyzer manufacturing tool |
PCT/US2020/061110 WO2021113079A1 (en) | 2019-12-04 | 2020-11-18 | Dialyzer manufacturing tool |
Publications (2)
Publication Number | Publication Date |
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EP4069489A1 EP4069489A1 (en) | 2022-10-12 |
EP4069489B1 true EP4069489B1 (en) | 2023-11-08 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20824794.0A Active EP4069489B1 (en) | 2019-12-04 | 2020-11-18 | Dialyzer manufacturing system and method |
Country Status (5)
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US (2) | US11623377B2 (en) |
EP (1) | EP4069489B1 (en) |
CN (1) | CN115038565A (en) |
CA (1) | CA3163724A1 (en) |
WO (1) | WO2021113079A1 (en) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH07205219A (en) | 1994-01-12 | 1995-08-08 | Sailor Pen Co Ltd:The | Molded form taking-out apparatus |
JP5142242B2 (en) | 2006-03-15 | 2013-02-13 | 株式会社スター精機 | Molded product take-out machine and chuck movement control method |
CN104260282B (en) | 2014-09-18 | 2017-03-15 | 苏州君康医疗科技有限公司 | A kind of mould of hemodialyzer casing |
-
2019
- 2019-12-04 US US16/703,287 patent/US11623377B2/en active Active
-
2020
- 2020-11-18 CN CN202080095289.3A patent/CN115038565A/en active Pending
- 2020-11-18 CA CA3163724A patent/CA3163724A1/en active Pending
- 2020-11-18 WO PCT/US2020/061110 patent/WO2021113079A1/en unknown
- 2020-11-18 EP EP20824794.0A patent/EP4069489B1/en active Active
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2023
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US11623377B2 (en) | 2023-04-11 |
US20230226731A1 (en) | 2023-07-20 |
WO2021113079A1 (en) | 2021-06-10 |
EP4069489A1 (en) | 2022-10-12 |
CN115038565A (en) | 2022-09-09 |
US20210170652A1 (en) | 2021-06-10 |
CA3163724A1 (en) | 2021-06-10 |
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